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A Comparison of Different Methods for Modelling Electromechanical Multibody Systems

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Abstract

Procedures for modelling multibody systems are well known and many formulations and tools are available for these types of systems. For several years, emphasis has been placed on the modelling of electromechanical systems, particularly multibody systems, such as robots, which are driven by electrical actuators. In this paper, three different unified modelling strategies, based on the virtual work principle, linear graph and bond graph theories, are presented and compared. Three examples, including non-academic applications, illustrate this comparison.

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Authors and Affiliations

  1. Center for Research in Mechatronics, Université Catholique de Louvain, Bâtiment Stevin, Place du Levant 2, 1348, Louvain-La-Neuve, Belgium.

    L. Sass, P. Fisette & D. Grenier

  2. Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada, N2L 3G1

    J. McPhee & C. Schmitke

Authors
  1. L. Sass
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  2. J. McPhee
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  3. C. Schmitke
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  4. P. Fisette
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  5. D. Grenier
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Sass, L., McPhee, J., Schmitke, C. et al. A Comparison of Different Methods for Modelling Electromechanical Multibody Systems. Multibody System Dynamics 12, 209–250 (2004). https://doi.org/10.1023/B:MUBO.0000049196.78726.da

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  • DOI: https://doi.org/10.1023/B:MUBO.0000049196.78726.da

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